Thanks for question. Yes you can, put you will need to set up a couple of things.

First make sure that the Outbound Link tracking is enabled.

Then, add pdf to the Download extensions to track input box.

Hit save and you are good to go.

Double double check its working, make sure you clear the cache is your pages are cached, click on the link, and then go to Google analytics and take a look at your real time stats. It should register there.